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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef _UART1_H |
2 | #define _UART1_H |
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3 | |||
4 | #define UART_FLIGHTCTRL 0 |
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5 | #define UART_MK3MAG 1 |
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6 | #define UART_MKGPS 2 |
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7 | |||
92 | killagreg | 8 | #include "ubx.h" |
495 | killagreg | 9 | #include "waypoints.h" |
41 | ingob | 10 | |
256 | killagreg | 11 | #define NC_ERROR0_SPI_RX 0x01 |
12 | #define NC_ERROR0_COMPASS_RX 0x02 |
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13 | #define NC_ERROR0_FC_INCOMPATIBLE 0x04 |
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14 | #define NC_ERROR0_COMPASS_INCOMPATIBLE 0x08 |
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15 | #define NC_ERROR0_GPS_RX 0x10 |
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16 | #define NC_ERROR0_COMPASS_VALUE 0x20 |
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156 | killagreg | 17 | |
675 | holgerb | 18 | #define DISABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_SET); |
19 | #define ENABLE_FC_UART GPIO_WriteBit(GPIO3, GPIO_Pin_7, Bit_RESET); |
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819 | holgerb | 20 | extern u16 Uart1Baudrate; |
675 | holgerb | 21 | |
819 | holgerb | 22 | #define MAX_BD_RATES 9 |
23 | extern const u32 BAUDRATES[MAX_BD_RATES]; |
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24 | |||
62 | killagreg | 25 | typedef struct |
92 | killagreg | 26 | { |
112 | killagreg | 27 | u8 SWMajor; |
28 | u8 SWMinor; |
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29 | u8 ProtoMajor; |
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598 | holgerb | 30 | u8 LabelTextCRC; |
112 | killagreg | 31 | u8 SWPatch; |
454 | holgerb | 32 | u8 HardwareError[2]; |
33 | u8 HWMajor; |
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548 | holgerb | 34 | u8 BL_Firmware; |
454 | holgerb | 35 | u8 Flags; |
161 | killagreg | 36 | } __attribute__((packed)) UART_VersionInfo_t; |
112 | killagreg | 37 | |
38 | extern UART_VersionInfo_t UART_VersionInfo; |
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39 | |||
454 | holgerb | 40 | //VersionInfo.Flags |
41 | #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
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42 | #define NC_VERSION_FLAG_GPS_PRESENT 0x02 |
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43 | |||
112 | killagreg | 44 | typedef struct |
45 | { |
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161 | killagreg | 46 | s16 AngleNick; // in 0.1 deg |
47 | s16 AngleRoll; // in 0.1 deg |
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48 | s16 Heading; // in 0.1 deg |
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358 | holgerb | 49 | u8 StickNick; |
50 | u8 StickRoll; |
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51 | u8 StickYaw; |
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52 | u8 StickGas; |
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739 | holgerb | 53 | s16 Altimeter_5cm; // in 5cm -> devide by 20 to get meters & multiply with 5 to get cm |
588 | holgerb | 54 | u8 reserve[2]; |
61 | holgerb | 55 | } __attribute__((packed)) Data3D_t; |
56 | |||
57 | extern Data3D_t Data3D; |
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58 | |||
112 | killagreg | 59 | |
60 | extern const u8 ANALOG_LABEL[32][16]; |
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61 | |||
338 | holgerb | 62 | #define AMPEL_FC 0x01 |
63 | #define AMPEL_BL 0x02 |
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64 | #define AMPEL_NC 0x04 |
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65 | #define AMPEL_COMPASS 0x08 |
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66 | |||
41 | ingob | 67 | typedef struct |
68 | { |
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338 | holgerb | 69 | u8 StatusGreen; |
70 | u8 StatusRed; |
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41 | ingob | 71 | u16 Analog[32]; // Debugwerte |
72 | } __attribute__((packed)) DebugOut_t; |
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73 | |||
74 | extern DebugOut_t DebugOut; |
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75 | |||
682 | holgerb | 76 | /* |
41 | ingob | 77 | typedef struct |
78 | { |
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79 | u8 Digital[2]; |
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80 | u8 RemoteButtons; |
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81 | s8 Nick; |
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82 | s8 Roll; |
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83 | s8 Yaw; |
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84 | u8 Gas; |
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85 | s8 Height; |
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86 | u8 free; |
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87 | u8 Frame; |
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88 | u8 Config; |
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89 | } __attribute__((packed)) ExternControl_t; |
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682 | holgerb | 90 | */ |
41 | ingob | 91 | |
824 | holgerb | 92 | #define EC_VALID 0x01 // only valid if this is 1 |
93 | #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
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94 | #define EC_ONLY_IF_MOTOR_OFF 0x10 // use these Stick Positions only if the motors are not running -> Claibrate etc. |
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95 | #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
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96 | #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
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97 | #define EC_IGNORE_RC_LOST 0x80 // if 1 -> for Flying without RC-Control |
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682 | holgerb | 98 | |
689 | holgerb | 99 | // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
100 | #define EC2_PH 0x01 // GPS-Mode: PH |
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101 | #define EC2_CH 0x02 // GPS-Mode: CH |
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102 | #define EC2_CAREFREE 0x10 // |
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103 | #define EC2_ALTITUDE 0x20 // |
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104 | #define EC2_AUTOSTART 0x40 // |
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105 | #define EC2_AUTOLAND 0x80 // |
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106 | |||
682 | holgerb | 107 | typedef struct |
108 | { |
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689 | holgerb | 109 | signed char Nick; |
110 | signed char Roll; |
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111 | signed char Gier; |
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112 | signed char Gas; |
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113 | unsigned char Frame; // will return a confirm frame with this value |
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682 | holgerb | 114 | unsigned char Config; |
689 | holgerb | 115 | unsigned char Switches; |
116 | unsigned char Free1; // these two don't need capacity in the ASCII data string |
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117 | unsigned char Free2; |
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682 | holgerb | 118 | } __attribute__((packed)) ExternControl_t; |
41 | ingob | 119 | extern ExternControl_t ExternControl; |
689 | holgerb | 120 | extern u8 NewExternalControlFrame; // flag that sends the Frame to FC |
41 | ingob | 121 | |
689 | holgerb | 122 | #define SERIAL_POTI_START 17 |
123 | #define WP_EVENT_PPM_IN 29 |
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124 | #define PPM_IN_OFF 30 |
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125 | #define PPM_IN_MAX 31 |
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126 | #define PPM_IN_MID 32 |
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41 | ingob | 127 | typedef struct |
128 | { |
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689 | holgerb | 129 | signed char Ch[12]; |
130 | } __attribute__((packed)) SerialChannel_t; |
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131 | extern SerialChannel_t SerialChannel; |
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132 | extern u8 NewSerialChannelFrame; // flag that sends the Frame to FC |
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133 | |||
134 | typedef struct |
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135 | { |
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41 | ingob | 136 | s16 Nick; |
137 | s16 Roll; |
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138 | s16 Compass; // angle between north and head of the MK |
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161 | killagreg | 139 | } __attribute__((packed)) Attitude_t; |
41 | ingob | 140 | |
494 | killagreg | 141 | |
142 | typedef struct |
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143 | { |
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737 | holgerb | 144 | u16 Distance_dm; // distance to target in dm |
92 | killagreg | 145 | s16 Bearing; // course to target in deg |
161 | killagreg | 146 | } __attribute__((packed)) GPS_PosDev_t; |
41 | ingob | 147 | |
294 | holgerb | 148 | #define NAVIDATA_VERSION 5 |
89 | killagreg | 149 | |
789 | holgerb | 150 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
151 | //+ old protocol |
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152 | //+ start abbo communication with: 'O' + Interval [10ms] |
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153 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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154 | typedef struct // 84 Bytes (note: this is the old protocol) |
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41 | ingob | 155 | { |
768 | holgerb | 156 | u8 Version; // version of the data structure = 5 |
491 | killagreg | 157 | GPS_Pos_t CurrentPosition; // see gpspos.h for details |
41 | ingob | 158 | GPS_Pos_t TargetPosition; |
159 | GPS_PosDev_t TargetPositionDeviation; |
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160 | GPS_Pos_t HomePosition; |
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161 | GPS_PosDev_t HomePositionDeviation; |
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162 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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163 | u8 WaypointNumber; // number of stored waypoints |
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89 | killagreg | 164 | u8 SatsInUse; // number of satellites used for position solution |
739 | holgerb | 165 | s16 Altimeter_5cm; // hight according to air pressure |
41 | ingob | 166 | s16 Variometer; // climb(+) and sink(-) rate |
167 | u16 FlyingTime; // in seconds |
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168 | u8 UBat; // Battery Voltage in 0.1 Volts |
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169 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
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89 | killagreg | 170 | s16 Heading; // current flight direction in ° as angle to north |
171 | s16 CompassHeading; // current compass value in ° |
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41 | ingob | 172 | s8 AngleNick; // current Nick angle in 1° |
173 | s8 AngleRoll; // current Rick angle in 1° |
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174 | u8 RC_Quality; // RC_Quality |
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789 | holgerb | 175 | u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
176 | u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
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41 | ingob | 177 | u8 Errorcode; // 0 --> okay |
532 | holgerb | 178 | u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
89 | killagreg | 179 | s16 TopSpeed; // velocity in vertical direction in cm/s |
125 | killagreg | 180 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
294 | holgerb | 181 | u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
161 | killagreg | 182 | s16 SetpointAltitude; // setpoint for altitude |
789 | holgerb | 183 | u8 Gas; // current gas (thrust) |
206 | killagreg | 184 | u16 Current; // actual current in 0.1A steps |
185 | u16 UsedCapacity; // used capacity in mAh |
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768 | holgerb | 186 | u8 reserve1; // to fit into 84 bytes (must be divisible by 3) |
187 | u8 reserve2; // to fit into 84 bytes (must be divisible by 3) |
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41 | ingob | 188 | } __attribute__((packed)) NaviData_t; |
189 | extern NaviData_t NaviData; |
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190 | |||
789 | holgerb | 191 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
192 | //+ New protocol |
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193 | //+ start abbo communication with: 'O' + Interval 1byte [10ms] + MaxBytesPerSecond (2Bytes) |
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194 | //+ i.e. 'O'+10+1024 |
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195 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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196 | |||
824 | holgerb | 197 | typedef struct // Index:10 (15 Bytes need 27 ASCII-characters) -> 7+(x/3)*4 |
598 | holgerb | 198 | { |
789 | holgerb | 199 | u8 Index; // Index to identify this data set |
200 | s32 ActualLongitude; // |
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201 | s32 ActualLatitude; // |
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202 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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203 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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204 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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205 | u8 CamCtrlChar; // Status from a connected CamCtrl unit: 'R' = REC 'c' = Ready '!' = Error ...etc |
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206 | u8 reserve1; |
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598 | holgerb | 207 | } __attribute__((packed)) NaviData_Tiny_t; |
208 | extern NaviData_Tiny_t NaviData_Tiny; |
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209 | |||
210 | #define START_PAYLOAD_DATA 13 // |
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211 | |||
789 | holgerb | 212 | typedef struct // Index:11 (24 Bytes need 39 ASCII-characters) |
598 | holgerb | 213 | { |
789 | holgerb | 214 | u8 Index; // Index to identify this data set |
215 | s32 ActualLongitude; // |
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216 | s32 ActualLatitude; // |
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217 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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218 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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219 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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220 | u8 OSDStatusFlags2; // see main.h for definitions OSD_FLAG2_xxx |
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221 | u8 NCFlags; // Flags from NC |
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222 | u8 ReserveFlags; |
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223 | u8 Errorcode; // 0 --> okay see http://wiki.mikrokopter.de/ErrorCodes |
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224 | u8 SpeakHoTT; // voice output SPEAK_xxx (see spi_slave.h) |
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225 | u8 VarioCharacter; // display as ascii character ('+' = 'climb' etc) |
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226 | u8 GPS_ModeCharacter; // display as ascii character ('H' = 'Home' etc) |
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227 | u8 BL_MinOfMaxPWM; // status byte of the BL-Ctrls |
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598 | holgerb | 228 | } __attribute__((packed)) NaviData_Flags_t; |
229 | extern NaviData_Flags_t NaviData_Flags; |
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230 | |||
789 | holgerb | 231 | typedef struct // Index:12 (27 Bytes need 43 ASCII-characters) |
598 | holgerb | 232 | { |
789 | holgerb | 233 | u8 Index; // Index to identify this data set |
234 | s32 ActualLongitude; // |
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235 | s32 ActualLatitude; // |
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236 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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237 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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238 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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239 | s32 TargetLongitude; // |
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240 | s32 TargetLatitude; // |
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241 | s16 TargetAltitude; // hight according to air pressure |
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242 | u8 RC_Quality; // RC_Quality |
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598 | holgerb | 243 | } __attribute__((packed)) NaviData_Target_t; |
244 | extern NaviData_Target_t NaviData_Target; |
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245 | |||
789 | holgerb | 246 | typedef struct // Index:13 (30 Bytes need 47 ASCII-characters) |
247 | { |
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248 | u8 Index; // Index to identify this data set |
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249 | s32 ActualLongitude; // |
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250 | s32 ActualLatitude; // |
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251 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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252 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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253 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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254 | s32 HomeLongitude; // |
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255 | s32 HomeLatitude; // |
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256 | s16 HomeAltitude; // hight according to air pressure |
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257 | u16 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
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598 | holgerb | 258 | u8 LipoCellCount; |
789 | holgerb | 259 | u8 DescendRange; // in [10m] |
260 | u8 ManualFlyingRange; // in [10m] |
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807 | holgerb | 261 | u8 OSDStatusFlags3; |
622 | holgerb | 262 | u8 reserve1; |
598 | holgerb | 263 | } __attribute__((packed)) NaviData_Home_t; |
264 | extern NaviData_Home_t NaviData_Home; |
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265 | |||
789 | holgerb | 266 | typedef struct // Index:14 (24 Bytes need 39 ASCII-characters) |
600 | holgerb | 267 | { |
789 | holgerb | 268 | u8 Index; // Index to identify this data set |
269 | s32 ActualLongitude; // |
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270 | s32 ActualLatitude; // |
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271 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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272 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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273 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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274 | u16 FlyingTime; // in seconds |
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275 | u16 DistanceToHome; // [10cm] (100 = 10m) |
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276 | u8 HeadingToHome; // in 2° (100 = 200°) |
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277 | u16 DistanceToTarget; // [10cm] (100 = 10m) |
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278 | u8 HeadingToTarget; // in 2° (100 = 200°) |
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279 | s8 AngleNick; // current Nick angle in 1° |
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280 | s8 AngleRoll; // current Rick angle in 1° |
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281 | u8 SatsInUse; // number of satellites used for position solution |
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282 | } __attribute__((packed)) NaviData_Deviation_t; |
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283 | extern NaviData_Deviation_t NaviData_Deviation; |
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600 | holgerb | 284 | |
789 | holgerb | 285 | typedef struct // Index:15 (18 Bytes need 31 ASCII-characters) |
621 | holgerb | 286 | { |
789 | holgerb | 287 | u8 Index; // Index to identify this data set |
288 | s32 ActualLongitude; // |
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289 | s32 ActualLatitude; // |
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290 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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291 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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292 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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293 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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294 | u8 WaypointNumber; // number of stored waypoints |
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295 | u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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296 | u8 WP_Eventchannel; // the current value of the event channel |
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598 | holgerb | 297 | u8 reserve; |
298 | } __attribute__((packed)) NaviData_WP_t; |
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299 | extern NaviData_WP_t NaviData_WP; |
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300 | |||
789 | holgerb | 301 | typedef struct // Index:16 (27 Bytes need 43 ASCII-characters) |
598 | holgerb | 302 | { |
789 | holgerb | 303 | u8 Index; // Index to identify this data set |
304 | s32 ActualLongitude; // |
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305 | s32 ActualLatitude; // |
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306 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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307 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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308 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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309 | u16 UBat; // Battery Voltage in 0.1 Volts |
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310 | u16 Current; // actual current in 0.1A steps |
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311 | u16 UsedCapacity; // used capacity in mAh |
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312 | s8 Variometer; // climb(+) and sink(-) rate |
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313 | u8 Heading; // Current moving direction in 2° (100 = 200°) |
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314 | u8 CompassHeading; // current compass value in 2° |
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315 | u8 Gas; // current gas (thrust) |
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316 | u16 ShutterCounter; // counts every time a Out1 was activated |
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317 | s16 SetpointAltitude; // setpoint for altitude |
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598 | holgerb | 318 | } __attribute__((packed)) NaviData_Volatile_t; |
319 | extern NaviData_Volatile_t NaviData_Volatile; |
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320 | |||
321 | |||
789 | holgerb | 322 | typedef struct // Index:17 (21 Bytes need 35 ASCII-characters) |
323 | { |
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324 | u8 Index; // Index to identify this data set |
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325 | s32 ActualLongitude; // |
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326 | s32 ActualLatitude; // |
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327 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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328 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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329 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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330 | s32 Longitude; // Failsafe-Position |
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331 | s32 Latitude; // Failsafe-Position |
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332 | } __attribute__((packed)) NaviData_FS_Pos_t; |
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333 | extern NaviData_FS_Pos_t NaviData_Failsafe; |
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598 | holgerb | 334 | |
789 | holgerb | 335 | typedef struct // Index:18 (9 Bytes need 19 ASCII-characters) |
336 | { |
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337 | u8 Index; // Index to identify this data set |
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338 | s32 Longitude; // Trigger Position |
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339 | s32 Latitude; // Trigger Position |
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340 | } __attribute__((packed)) NaviData_Out_t; |
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341 | extern NaviData_Out_t NaviData_Out1Trigger; |
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598 | holgerb | 342 | |
343 | |||
824 | holgerb | 344 | typedef struct // Index:19 (36 Bytes need 55 ASCII-characters) -> 7+(x/3)*4 |
345 | { |
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346 | u8 Index; // Index to identify this data set |
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347 | s32 ActualLongitude; // |
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348 | s32 ActualLatitude; // |
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349 | s16 Altimeter_5cm; // hight -> devide by 20 to get meters & multiply with 5 to get cm |
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350 | u8 GroundSpeed; // speed over ground in 10cm/s (2D) (255 = 91km/h) |
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351 | u8 OSDStatusFlags; // see main.h for definitions OSD_FLAG_xxx |
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352 | u8 HoTT_DisplayText[21]; |
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353 | u8 HoTT_TextLevel; |
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354 | u8 reserve; |
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355 | } __attribute__((packed)) NaviData_HoTT_Text_t; |
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356 | extern NaviData_HoTT_Text_t NaviData_HoTT_Text; |
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357 | |||
41 | ingob | 358 | extern UART_TypeDef *DebugUART; |
92 | killagreg | 359 | extern volatile u8 SerialLinkOkay; |
349 | ingob | 360 | extern Buffer_t UART1_tx_buffer; |
380 | holgerb | 361 | extern Buffer_t UART1_rx_buffer; |
773 | holgerb | 362 | extern u16 UART1_BaudrateFallbackTimeout; |
41 | ingob | 363 | |
364 | void UART1_Init(void); |
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365 | void UART1_Transmit(void); |
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366 | void UART1_TransmitTxData(void); |
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367 | void UART1_ProcessRxData(void); |
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368 | |||
110 | killagreg | 369 | s16 UART1_Putchar(char c); |
370 | void UART1_PutString(u8 *s); |
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150 | killagreg | 371 | extern u8 text[]; // globally used text buffer |
110 | killagreg | 372 | extern u8 UART1_Request_SendFollowMe; |
360 | holgerb | 373 | extern u8 LastTransmittedFCStatusFlags2; |
519 | holgerb | 374 | extern u8 UART1_Request_ReadPoint; |
495 | killagreg | 375 | extern WPL_Store_t WPL_Store; |
598 | holgerb | 376 | extern u8 CalculateDebugLableCrc(void); |
626 | holgerb | 377 | extern u8 NaviData_Flags_SpeakHoTT_Processed; |
532 | holgerb | 378 | |
772 | ingob | 379 | extern void UART1_Configure(u32 baudrate); |
819 | holgerb | 380 | extern void GetBaudrateFromSdCard(u32 oldBd); |
772 | ingob | 381 | |
532 | holgerb | 382 | typedef struct |
383 | { |
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384 | u8 User[128]; |
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385 | u8 eMail[128]; |
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386 | u8 Feature[128]; |
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387 | u8 Expire[11]; |
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388 | u8 License[16]; |
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763 | holgerb | 389 | } __attribute__((packed)) LicenseS_t; |
529 | holgerb | 390 | extern u8 *LicensePtr; |
495 | killagreg | 391 | |
460 | holgerb | 392 | extern u32 NMEA_Interval;// in ms |
529 | holgerb | 393 | #define LICENSE_SIZE 480 |
394 | #define LICENSE_SIZE_TEXT 411 |
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460 | holgerb | 395 | |
41 | ingob | 396 | #endif //_UART1_H |